CN205928701U - Lower hanging truss machine handle structure - Google Patents

Abstract

The utility model discloses a bottom-hanging truss manipulator structure, which comprises a gantry frame, a beam is arranged on the gantry frame, a manipulator mechanism is arranged on the beam, the manipulator mechanism includes a top plate arranged on the beam, and a There are two first hydraulic cylinders, the distance between the connection points between the two first hydraulic cylinders and the top plate is greater than the distance between the piston ends of the two first hydraulic cylinders, and the piston ends of the two first hydraulic cylinders are each fixedly connected with a first clamp The two first clamping plates are parallel to each other, the bottom of the first clamping plate is fixed with the second hydraulic cylinder, the second hydraulic cylinder is perpendicular to the first clamping plate, and the side wall of the piston rod of the second hydraulic cylinder is fixed with the second hydraulic cylinder. Two clamping plates, the top of the piston cylinder of the second hydraulic cylinder is provided with a positioning block. The utility model can improve the deficiencies of the prior art, and improves the clamping stability of the truss manipulator for irregular parts.

Description

An under-hanging truss manipulator structure

technical field

The utility model relates to the field of mechanical automation, in particular to a bottom-hanging truss manipulator structure.

Background technique

In the industrial automation production line, workpieces often need to be moved back and forth between the assembly line and the machine tool processing station. At present, the loading and unloading of machine tools is realized on the automatic assembly line, and general industrial robots or special manipulators are widely used. Chinese utility model patent CN 203031607U discloses a truss manipulator structure, which realizes horizontal and vertical transportation of workpieces between the assembly line and the corresponding machine tool processing stations. However, this kind of truss manipulator is not good enough for clamping irregular parts. If the clamping angle deviates, it is easy to cause the problem of parts falling.

Utility model content

The technical problem to be solved by the utility model is to provide a hanging-type truss manipulator structure, which can solve the deficiencies of the prior art and improve the clamping stability of the truss manipulator for irregular parts.

In order to solve the problems of the technologies described above, the technical solutions adopted by the utility model are as follows.

A bottom-hanging truss robot structure, comprising a gantry frame, a beam is arranged on the gantry, a robot mechanism is arranged on the beam, and the robot mechanism includes a top plate arranged on the beam, and two first Hydraulic cylinder, the distance between the connection points between the two first hydraulic cylinders and the top plate is greater than the distance between the piston ends of the two first hydraulic cylinders, the angle between the two first hydraulic cylinders is 15° to 25°, the two first hydraulic cylinders Each piston end of the cylinder is fixedly connected with a first clamping plate, the two first clamping plates are parallel to each other, the bottom of the first clamping plate is fixed with a second hydraulic cylinder, and the second hydraulic cylinder and the first clamping plate are perpendicular to each other , the piston rod side wall of the second hydraulic cylinder is fixed with a second clamping plate, the angle between the second clamping plate and the second hydraulic cylinder is 45°, and the top of the piston cylinder of the second hydraulic cylinder is provided with a positioning block.

As a preference, the upper surface of the second clamping plate is provided with several grooves, the bottom of the grooves is connected with a support plate through the first spring body, the support plate is in clearance fit with the groove, and the side wall of the groove is provided with rubber layer.

Preferably, several arc-shaped metal sheets are hinged on the positioning block, the ends of the arc-shaped metal sheets are connected with a second spring body, and a rubber plate is arranged on the top of the second spring body.

The beneficial effect brought by the adoption of the above technical solution is that the utility model forms a robot arm mechanism through two groups of hydraulic cylinders, the first hydraulic cylinder is used for lifting the parts, and the second hydraulic cylinder is used for laterally fixing the parts . The inclined structure of the first hydraulic cylinder can make the first hydraulic cylinder share part of the clamping pressure of the second hydraulic cylinder, reducing the shaking generated when the hydraulic cylinder clamps parts. The positioning block connected to the second hydraulic cylinder can cooperate with the second clamping plate to achieve stable clamping of parts with different shapes. The side of the support plate movable on the second clamping plate can be firmly clamped with the surface of the component. When the component has a local protrusion that contacts the top of the support plate, the support plate retracts downward, so that the component and the concave The slots are snapped together to realize firm snapping of parts. The rubber layer can improve the stability of the snap-fit between the groove and the component. After the positioning block is in contact with the parts, the second spring body is compressed, thereby closing the arc-shaped metal sheets, thereby improving the clamping stability of the parts.

Description of drawings

Fig. 1 is a structural diagram of a specific embodiment of the present invention.

Fig. 2 is a structural diagram of the robot arm mechanism in a specific embodiment of the present invention.

Fig. 3 is a structural diagram of the second clamping plate in a specific embodiment of the present invention.

Fig. 4 is a structural diagram of the connection between the arc-shaped metal sheet and the positioning block in a specific embodiment of the present invention.

In the figure: 1. Gantry frame; 2. Beam; 3. Robot mechanism; 4. Top plate; 5. First hydraulic cylinder; 6. First clamping plate; 7. Second hydraulic cylinder; 8. Second clamping Plate; 9, positioning block; 10, groove; 11, first spring body; 12, support plate; 13, rubber layer; 14, arc-shaped metal sheet; 15, second spring body; 16, rubber plate; 17, chute.

detailed description

The standard parts used in the utility model can be purchased from the market, and the special-shaped parts can be customized according to the instructions and the records of the accompanying drawings. The specific connection methods of each part adopt mature bolts, rivets, Conventional means such as welding and pasting are not described in detail here.

With reference to Fig. 1-3, a specific embodiment of the present utility model comprises gantry 1, and gantry 1 is provided with beam 2, and beam 2 is provided with robot hand mechanism 3, and described robot hand mechanism 3 includes being arranged on beam 2 Top plate 4, two first hydraulic cylinders 5 are arranged below the top plate 4, the distance between the connection points of the two first hydraulic cylinders 5 and the top plate 4 is greater than the distance between the piston ends of the two first hydraulic cylinders 5, the two first hydraulic cylinders 5 The angle between them is 20°. The piston ends of the two first hydraulic cylinders 5 are each fixedly connected with a first clamping plate 6. The two first clamping plates 6 are parallel to each other, and the bottom of the first clamping plate 6 is fixed. There is a second hydraulic cylinder 7, the second hydraulic cylinder 7 is perpendicular to the first clamping plate 6, the piston rod side wall of the second hydraulic cylinder 7 is fixed with a second clamping plate 8, the second clamping plate 8 is connected to the second The included angle of the hydraulic cylinder 7 is 45°, and the top of the piston cylinder of the second hydraulic cylinder 7 is provided with a positioning block 9 . The first hydraulic cylinder 5 is used for lifting the parts, and the second hydraulic cylinder 7 is used for lateral fixing of the parts. The inclined structure of the first hydraulic cylinder 5 can make the first hydraulic cylinder 5 share part of the clamping pressure of the second hydraulic cylinder 7, reducing the vibration generated when the hydraulic cylinder clamps parts. The positioning block 9 connected to the second hydraulic cylinder 7 can cooperate with the second clamping plate 8 to achieve stable clamping of parts of different shapes. The upper surface of the second clamping plate 8 is provided with several grooves 10, the bottom of the groove 10 is connected with the support plate 12 through the first spring body 11, the support plate 12 and the groove 10 clearance fit, the side wall of the groove 10 A rubber layer 13 is provided. The side of the support plate 12 that is movable on the second clamping plate 8 can be firmly clamped with the surface of the parts. When the parts have a local protrusion that contacts the top of the support plate 12, the support plate 12 is retracted downward, so that The components and the groove 10 are engaged with each other, so as to realize the firm engagement of the components. The rubber layer 13 can improve the stability of clamping and fixing between the groove 10 and the parts. A plurality of arc-shaped metal sheets 14 are hinged on the positioning block 9 , the ends of the arc-shaped metal sheets 14 are connected with a second spring body 15 , and a rubber plate 16 is arranged on the top of the second spring body 15 . After the positioning block 9 is in contact with the component, the second spring body 15 is compressed, thereby closing the arc-shaped metal sheet 14 to improve the clamping stability of the component.

In addition, a sliding groove 17 is provided on the connecting surface between the positioning block and the piston rod of the second hydraulic cylinder 7 , and the piston rod of the second hydraulic cylinder 7 is slidably disposed in the sliding groove 17 .

Among them, the external driving device of the truss robot has been fully disclosed in the patent documents cited in the background art, and will not be described in detail here.

In describing the present invention, it should be understood that the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical" , "horizontal", "top", "bottom", "inner", "outer" and other indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the utility model, rather than Any indication or implication that a referenced device or element must have a particular orientation, be constructed, and operate in a particular orientation should not be construed as limiting the invention.

The basic principles and main features of the present utility model and the advantages of the present utility model have been shown and described above. Those skilled in the art should understand that the utility model is not limited by the above-mentioned embodiments. The above-mentioned embodiments and descriptions only illustrate the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model The new model also has various changes and improvements, and these changes and improvements all fall within the scope of the claimed utility model. The scope of protection required by the utility model is defined by the appended claims and their equivalents.

Claims (3)

1. hanging truss robot arm structure under one kind, including portal frame (1), portal frame (1) is provided with crossbeam (2), crossbeam (2) On be provided with manipulator mechanism (3) it is characterised in that：Described manipulator mechanism (3) includes the top board being arranged on crossbeam (2) (4), it is provided with two first hydraulic cylinders (5) below top board (4), between the junction point of two first hydraulic cylinders (5) and top board (4) It is 15 °～25 ° away from the angle between the spacing more than two first hydraulic cylinder (5) piston ends, two first hydraulic cylinders (5), two The piston end of individual first hydraulic cylinder (5) is respectively fixedly connected with first grip block (6), and two the first grip blocks (6) are mutually flat OK, the first grip block (6) bottom is fixed with second hydraulic cylinder (7), and second hydraulic cylinder (7) is mutually perpendicular to the first grip block (6), The piston rod side wall of second hydraulic cylinder (7) is fixed with the second grip block (8), the folder of the second grip block (8) and second hydraulic cylinder (7) Angle is 45 °, and the top of the piston cylinder of second hydraulic cylinder (7) is provided with locating piece (9).

2. hanging truss robot arm structure under according to claim 1 it is characterised in that：Described second grip block (8) Upper surface is provided with several grooves (10), and the bottom of groove (10) is connected with gripper shoe (12) by the first spring body (11), Gripper shoe (12) is coordinated with groove (10) gap, and the side wall of groove (10) is provided with rubber layer (13).

3. hanging truss robot arm structure under according to claim 1 it is characterised in that：Described locating piece (9) is upper hinged There are several arc metal plates (14), the end of arc metal plate (14) is connected with second spring body (15), second spring body (15) top is provided with rubber slab (16).